农机化研究2026，Vol.48Issue(4)：258-266,9.DOI:10.13427/j.issn.1003-188X.2026.04.031
自走式辣椒移栽机栽深控制系统
Planting Depth Control System of Self-propelled Pepper Transplanter Based on the Principle of Swing-leg Lifting and Lowering with External Octagonal Shape
摘要
Abstract
Aiming at the problem of poor stability of planting depth in the operation process of pepper transplanting ma-chine,a self-propelled pepper transplanting machine with outer eight-shaped swing leg lifting chassis was taken as the re-search object,and the hydraulic control system of chassis swing leg lifting was constructed.In order to make the chassis frame undulate with the ground and keep the frame parallel to the ridge surface,the key components of the transplanter were designed and the kinematics model of the lifting and lowering of the swing leg of the steering axle and the driving arm was established.The relationship model between the swing angle of the steering axle and the driving arm and the telesco pic length of the swing leg cylinder was obtained,and the closed-loop control model of the lifting chassis height from the ground was established.The kinematics model of the swing leg lifting chassis was simulated by RecurdDn and MatLab/Simulink,and the correctness of the model and the effectiveness of the lifting control strategy were verified.Through the PID algorithm,the chassis lifting control model was solved in real time.The current signal sent by the controller dynami-cally adjusted the opening of the flow sharing three-way valve(EHV),and controlled the expansion and contraction of the three-way lifting cylinder in real time,so as to adjust the frame attitude and the height from the ground,and realize the adjustment of the planting depth.The results of the chassis lifting test showed that the average time for the chassis frame to drop from the highest 84 cm to the lowest 49 cm from the ground was about 14 s,and the average time for rising was about 10 s.The planting depth error was controlled within±1 cm.The frame was stable during the lifting process,and the system was correct and effective,which could provide technical reference for the planting depth control of the self-propelled pepper transplanter.关键词
辣椒移栽机/栽深控制/外八形摆腿升降原理/自走式Key words
pepper transplanter/planting depth control/principle of swing-leg lifting and lowering with external shape/self-propelled分类
农业科技引用本文复制引用
Lai Haizhu,Yin Jianjun,Zhou Maile,Ma Chenyan,Zhang Ding,Lin Zhenhua..自走式辣椒移栽机栽深控制系统[J].农机化研究,2026,48(4):258-266,9.基金项目
江苏省自然科学基金面上项目(BK20251906) （BK20251906）
镇江市重点研发计划项目(NY2023003) （NY2023003）
